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Build Abseil dependency in CI. (#1485) 

cartographer-project/cartographer#1711 removed
building Abseil from the Cartographer library.
We follow here the same approach as in
cartographer CI.

An alternative approach which is now possible is
adding an Abseil package for catkin and depending
on that.

Signed-off-by: Wolfgang Hess <whess@lyft.com>
master
Wolfgang Hess 2020-06-25 13:04:21 +02:00 committed by GitHub
parent bdf8f5921e
commit be4332b338
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 10 additions and 11 deletions
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3
Dockerfile.kinetic
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@ -41,7 +41,8 @@ COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_r
COPY scripts/install_debs.sh cartographer_ros/scripts/ COPY scripts/install_debs.sh cartographer_ros/scripts/
RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/* RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
# Install proto3. # Install Abseil and proto3.
RUN /catkin_ws/src/cartographer/scripts/install_abseil.sh
RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
# Build, install, and test all packages individually to allow caching. The # Build, install, and test all packages individually to allow caching. The

3
Dockerfile.melodic
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@ -41,7 +41,8 @@ COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_r
COPY scripts/install_debs.sh cartographer_ros/scripts/ COPY scripts/install_debs.sh cartographer_ros/scripts/
RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/* RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
# Install proto3. # Install Abseil and proto3.
RUN /catkin_ws/src/cartographer/scripts/install_abseil.sh
RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
# Build, install, and test all packages individually to allow caching. The # Build, install, and test all packages individually to allow caching. The

2
cartographer_ros/CMakeLists.txt
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@ -54,7 +54,7 @@ find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES})
include(FindPkgConfig) include(FindPkgConfig)
find_package(Abseil REQUIRED) find_package(absl REQUIRED)
find_package(LuaGoogle REQUIRED) find_package(LuaGoogle REQUIRED)
find_package(Eigen3 REQUIRED) find_package(Eigen3 REQUIRED)

2
cartographer_rviz/CMakeLists.txt
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@ -33,7 +33,7 @@ find_package(cartographer REQUIRED)
include("${CARTOGRAPHER_CMAKE_DIR}/functions.cmake") include("${CARTOGRAPHER_CMAKE_DIR}/functions.cmake")
google_initialize_cartographer_project() google_initialize_cartographer_project()
find_package(Abseil REQUIRED) find_package(absl REQUIRED)
find_package(Eigen3 REQUIRED) find_package(Eigen3 REQUIRED)
find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES}) find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES})

11
scripts/install_debs.sh
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@ -17,13 +17,10 @@
set -o errexit set -o errexit
set -o verbose set -o verbose
# Install CMake 3.2 for Ubuntu Trusty and Debian Jessie. # Install CMake 3.2 for Debian Jessie.
sudo apt-get update sudo apt-get update
sudo apt-get install lsb-release -y sudo apt-get install lsb-release -y
if [[ "$(lsb_release -sc)" = "trusty" ]] if [[ "$(lsb_release -sc)" = "jessie" ]]
then
sudo apt-get install cmake3 -y
elif [[ "$(lsb_release -sc)" = "jessie" ]]
then then
sudo sh -c "echo 'deb http://ftp.debian.org/debian jessie-backports main' >> /etc/apt/sources.list" sudo sh -c "echo 'deb http://ftp.debian.org/debian jessie-backports main' >> /etc/apt/sources.list"
sudo apt-get update sudo apt-get update
@ -36,9 +33,9 @@ fi
cd catkin_ws cd catkin_ws
# Install Ninja. # Install Ninja and stow.
apt-get update apt-get update
apt-get install -y ninja-build apt-get install -y ninja-build stow
# Install rosdep dependencies. # Install rosdep dependencies.
rosdep update rosdep update